WAGO -I/O-SYSTEM 750 Technical Description page 89

d:
X:
reserved:
4.3.1.2.1.3.2 Upload SDO Segment
This protocol is used if more than 4 data is transmitted, i.e. this follows after
fully processing the „Initiate Upload Protocol" which initiates the data trans-
missions.
request
confirm
Fig. 4-7: Upload SDO Segment
ccs:
scs:
t:
c:
WAGO-I/O-SYSTEM 750
CANopen
data
Client
0
.7 .6 .5
ccs = 3
Client
0
.7 .6 .5
scs = 0
Client command specifier
Server command specifier
Toggle bit
Indicates whether further
segments are present for the
upload
Network Communication
e = 0, s = 0: d is reserved for further use of CiA
e = 0, s = 1: d contains the number of bytes for
download
Byte 4 contains the LSB and Byte 7 contains the
MSB.
e = 1: d contains the data
Not used, always 0
Reserved for further use of CiA
Upload SDO Segment
1
.4 .3 .2 .1 .0
reserved
t x
Upload SDO Segment
1
.4 .3 .2 .1 .0
Segment data
t x c
3: download segment request
0: download segment response
This bit has to change for each segment for
which an upload is made. The toggle bit has to
be zeroed for the first segment. The toggle bit is
identical both for the enquiry and the reply.
0: there are more segments to be uploaded
1:there are no more segments for uploading
CANopen • 89
Server
8
indication
Server
8
response
g012411x